CN117433448A - Manipulator for three-dimensional scanning and control method thereof - Google Patents
Manipulator for three-dimensional scanning and control method thereof Download PDFInfo
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- CN117433448A CN117433448A CN202311450162.0A CN202311450162A CN117433448A CN 117433448 A CN117433448 A CN 117433448A CN 202311450162 A CN202311450162 A CN 202311450162A CN 117433448 A CN117433448 A CN 117433448A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000001502 supplementing effect Effects 0.000 claims abstract description 108
- 239000013589 supplement Substances 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000000694 effects Effects 0.000 claims abstract description 9
- 238000004458 analytical method Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000009833 condensation Methods 0.000 description 5
- 230000005494 condensation Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000010223 real-time analysis Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V21/00—Supporting, suspending, or attaching arrangements for lighting devices; Hand grips
- F21V21/14—Adjustable mountings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V21/00—Supporting, suspending, or attaching arrangements for lighting devices; Hand grips
- F21V21/14—Adjustable mountings
- F21V21/15—Adjustable mountings specially adapted for power operation, e.g. by remote control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V21/00—Supporting, suspending, or attaching arrangements for lighting devices; Hand grips
- F21V21/34—Supporting elements displaceable along a guiding element
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
- F21W2131/00—Use or application of lighting devices or systems not provided for in codes F21W2102/00-F21W2121/00
- F21W2131/40—Lighting for industrial, commercial, recreational or military use
- F21W2131/403—Lighting for industrial, commercial, recreational or military use for machines
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of mechanical scanning, in particular to a manipulator for three-dimensional scanning and a control method thereof, comprising the following steps: the three-dimensional scanner is used for scanning and measuring the parts; the manipulator is used for providing support for the three-dimensional scanner and driving the three-dimensional scanner to move in different directions; the support seat is used for providing support for the part to be scanned; the light supplementing unit is arranged at the bottom of the three-dimensional scanner and used for illuminating the inner concave surface of the part; the light supplementing unit is controlled by the control unit to move, so that the light supplementing unit supplements light to the inner concave surface of the part, the inner concave surface of the part is illuminated by the light source, the detection of the inner concave surface of the part by the three-dimensional scanner is facilitated, and the scanning effect of the three-dimensional scanner is enhanced.
Description
Technical Field
The invention relates to the field of mechanical scanning, in particular to a manipulator for three-dimensional scanning and a control method thereof.
Background
With the progress of science and technology, the manipulator technology is widely applied in various fields to replace the traditional manual operation, so that a large amount of labor force is greatly liberated, and the qualification rate and the production efficiency of products are improved.
In the prior art, the metering detection of complex surface machining parts and the accurate measurement of metering devices are always a difficult problem for the metering world, the appearance of a laser tracker system provides possibility for solving the problem, three-dimensional scanning measurement and the comparison analysis of digital models provide basis for manufacturing precision evaluation, modeling process establishment and the like, and when the parts are scanned, because the surfaces of the parts possibly have concave structures, partial concave surfaces are difficult to identify when the shapes of the parts are scanned.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a manipulator for three-dimensional scanning and a control method thereof.
In a first aspect, the present invention provides a manipulator for three-dimensional scanning, comprising:
the three-dimensional scanner is used for scanning and measuring the parts;
the manipulator is used for providing support for the three-dimensional scanner and driving the three-dimensional scanner to move in different directions;
the support seat is used for providing support for the part to be scanned;
the light supplementing unit is arranged at the bottom of the three-dimensional scanner and used for illuminating the inner concave surface of the part;
the analysis unit is used for analyzing the scanning result of the three-dimensional scanner and determining whether the concave scanning result of the part meets the specification;
and the control unit is used for controlling the light supplementing unit to move when the analysis unit analyzes that the color of the concave surface of the part is deepened, so that the light supplementing unit supplements light for the concave surface of the part, and the three-dimensional scanner is assisted to detect the concave surface of the part.
Preferably, the light supplementing unit includes:
the two connecting blocks are symmetrically and fixedly arranged at the bottom of the three-dimensional scanner;
the fixed shell is fixedly arranged between the two connecting blocks;
the light supplementing piece is used for supplementing light to the inner concave surface of the part so as to enhance the identification effect of the three-dimensional scanner on the inner concave surface;
the reciprocating seat is arranged in the fixed shell and is used for driving the light supplementing piece to move;
and the driving unit is used for driving the reciprocating seat to move in the fixed shell.
Preferably, the method further comprises:
the deflection mechanism is provided with two groups, and the symmetry sets up the inside of fixed shell, and the light filling piece is when the inside of fixed shell removes appointed position for adjust the irradiation angle of light filling piece, in order to increase the irradiation range of light filling piece.
Preferably, the method further comprises:
and the jacking units are provided with two groups and are symmetrically arranged in the fixed shell, and are used for jacking the light supplementing piece to approach the direction of the inner concave surface of the part in the process of adjusting the irradiation angle of the light supplementing piece.
Preferably, the method further comprises:
the condensing units are provided with two groups and are arranged at the bottom of the three-dimensional scanner;
the detection unit is used for acquiring pressure information;
the control unit is also used for controlling the light condensing unit to supplement light to the inner concave surface of the part according to the pressure information acquired by the detection unit, so that the light source emitted by the light supplementing piece is reflected to different parts of the inner concave surface of the part.
Preferably, the condensing unit includes:
the light gathering piece is used for gathering the light source irradiated by the light supplementing piece into the inner concave surface of the part;
the pushing piece is fixedly arranged at the bottom of the connecting block and used for pushing the light gathering piece to move;
the deflection driving piece is arranged on the side wall of the connecting block and used for pushing the two light gathering pieces to be in a splayed shape.
Preferably, the method further comprises:
and the sliding unit is arranged between the light gathering pieces and the three-dimensional scanner and is used for pushing the two light gathering pieces to deflect outwards after the pushing pieces push the light gathering pieces to move to the designated positions.
In a second aspect, there is provided a control method of a manipulator for three-dimensional scanning, the control method comprising the steps of:
and the control unit controls the light supplementing unit to supplement light to the inner concave surface of the part according to the scanning disqualification information analyzed by the analysis unit.
Preferably, the method further comprises:
the control unit also controls the deflection driving piece to start working according to the pressure information acquired by the detection unit so as to push the two light supplementing units to be in a shape like a Chinese character 'zhi'.
Preferably, the method further comprises:
the control unit also controls the pushing member to start according to the return information of the deflection driving member, so that the light supplementing unit reflects the light source to different parts of the concave surface in the part.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, through the arrangement of the light supplementing unit, the light supplementing unit is controlled to move through the control unit, so that the light supplementing unit supplements light to the inner concave surface of the part, the inner concave surface of the part is illuminated by the light source, the detection of the inner concave surface of the part by the three-dimensional scanner is facilitated, and the scanning effect of the three-dimensional scanner is enhanced.
2. According to the invention, through the arrangement of the deflection mechanism, the light supplementing lamp deflects a certain angle towards the side wall direction of the inner concave surface of the part under the action of the deflection mechanism, so that the light of the light supplementing lamp irradiates the light supplementing towards the side wall direction of the inner concave surface of the part, the occurrence of the condition that the light supplementing of the side wall of the inner concave surface of the part is insufficient is avoided, and the identification effect of the three-dimensional scanner on the inner concave surface of the part is enhanced.
3. According to the invention, through the arrangement of the light condensing units and the symmetrically arranged light condensing units, the light condensing units can collect the light source to the bottom of the inner concave surface of the part for light supplement by adjusting the inclination angle of the light condensing units, so that the situation of insufficient light supplement caused by deeper depth of the inner concave surface of the part is avoided.
Drawings
FIG. 1 is a flow chart of a control method according to the present invention.
Fig. 2 is a schematic diagram of the overall structure of the three-dimensional scanning manipulator of the present invention.
Fig. 3 is a schematic structural view of the manipulator of the present invention.
Fig. 4 is a schematic diagram of a connection between a three-dimensional scanner and a condenser lens according to the present invention.
Fig. 5 is an enlarged schematic view of the structure of fig. 4 a according to the present invention.
Fig. 6 is a schematic diagram II of the joint between the three-dimensional scanner and the condenser lens.
Fig. 7 is an enlarged schematic view of the structure of fig. 6B according to the present invention.
Fig. 8 is a schematic diagram III of the joint between the three-dimensional scanner and the condenser lens.
Fig. 9 is a schematic structural view of the fixing case of the present invention.
Fig. 10 is an enlarged schematic view of the structure of fig. 9C according to the present invention.
Fig. 11 is an enlarged schematic view of the structure of fig. 9D according to the present invention.
Fig. 12 is an enlarged schematic view of the structure of fig. 9E according to the present invention.
Fig. 13 is a schematic view of the structure of the present invention after being sectioned along the fixing case.
Fig. 14 is an enlarged schematic view of the structure of fig. 13 at F according to the present invention.
Fig. 15 is a schematic structural view of the reciprocating base of the present invention.
In the figure: 1. a three-dimensional scanner; 2. a manipulator; 3. a support base; 4. a controller; 5. a computer; 6. a connecting block; 7. a fixed case; 8. a reciprocating seat; 9. a fixing seat; 10. an elastic telescopic rod; 11. a round baffle plate; 12. a first torsion spring; 13. an inclined surface; 14. a light supplementing lamp; 15. a first motor; 16. a threaded rod; 17. a gear; 18. a rack; 19. a chute; 20. a spring; 21. slotting; 22. a top block; 23. a pressure sensor; 24. a pushing member; 25. a light-gathering seat; 26. a universal ball; 27. a second torsion spring; 28. a condenser; 29. a second motor; 30. a rotating block; 31. a slide bar; 32. a vertical groove; 33. an inclined groove; 34. a relief groove; 35. and pushing the block.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.
A three-dimensional scanning manipulator as shown in fig. 2 to 15, comprising:
a three-dimensional scanner 1 for scanning and measuring the parts;
the manipulator 2 is used for providing support for the three-dimensional scanner 1 and driving the three-dimensional scanner 1 to move in different directions;
a support base 3 for providing support for the part to be scanned;
the light supplementing unit is arranged at the bottom of the three-dimensional scanner 1 and used for illuminating the inner concave surface of the part;
the analysis unit is used for analyzing the scanning result of the three-dimensional scanner 1 and determining whether the concave scanning result of the part meets the specification;
the control unit is used for controlling the light supplementing unit to move when the analysis unit analyzes that the color of the concave surface of the part is deepened, so that the light supplementing unit supplements light to the concave surface of the part and the three-dimensional scanner 1 is assisted to detect the concave surface of the part;
in the prior art, the metering detection of complex surface machining parts and the accurate measurement of metering devices are all the time a problem which is puzzled in the metering world, the appearance of a laser tracker system provides possibility for solving the problem, three-dimensional scanning measurement and digital-analog comparison analysis are used for providing basis for manufacturing precision evaluation, making a mould repairing process and the like, when the parts are scanned, due to the fact that the surfaces of the parts possibly have concave structures, when the shapes of the parts are scanned, the parts are difficult to identify, the situation that part concave surfaces are difficult to identify exists, the embodiment of the invention can solve the problems.
As an alternative embodiment, the control unit is a controller 4, and the controller 4 is fixedly installed on the top of the supporting seat 3.
As an alternative embodiment, the analysis unit is in particular a computer 5, the computer 5 being arranged on top of the support base 3.
As a further embodiment, the light supplementing unit includes:
the two connecting blocks 6 are symmetrically and fixedly arranged at the bottom of the three-dimensional scanner 1;
a fixed shell 7 fixedly installed between the two connection blocks 6;
the light supplementing piece is used for supplementing light to the inner concave surface of the part so as to enhance the identification effect of the three-dimensional scanner 1 on the inner concave surface;
the reciprocating seat 8 is arranged in the fixed shell 7 and is used for driving the light supplementing piece to move;
a driving unit for driving the reciprocating base 8 to move inside the fixed housing 7;
specifically stated, when light supplementing is needed, the controller 4 controls the light supplementing member to start light supplementing, then the scanning data of the three-dimensional scanner 1 are analyzed through the computer 5, when the analysis result is irregular, the controller 4 controls the driving unit to start, the driving unit drives the reciprocating seat 8 to move along the track inside the fixed shell 7, and the reciprocating seat 8 drives the light supplementing member to move, so that the light supplementing position of the light supplementing member is adjusted, and then the real-time analysis result of the computer 5 is matched, so that the light supplementing member is beneficial to supplementing light from a light source to a proper position of the concave surface in the part, and the three-dimensional scanner 1 is beneficial to scan the concave surface of the part.
As an alternative embodiment, the light supplementing member comprises a fixed seat 9, one side of the fixed seat 9 is fixedly connected with an elastic telescopic rod 10, one end, away from the fixed seat 9, of the elastic telescopic rod 10 is rotationally connected to the reciprocating seat 8, a retaining plate 11 is fixedly connected to the outer wall of the fixed portion of the elastic telescopic rod 10, a first torsion spring 12 is fixedly arranged between the retaining plate 11 and the reciprocating seat 8, the first torsion spring 12 is sleeved on the outer wall of the fixed portion of the elastic telescopic rod 10, an inclined surface 13 is formed in the fixed seat 9, and a plurality of light supplementing lamps 14 are fixedly arranged on the inclined surface 13.
It should be noted that, a battery is fixedly installed in the fixing base 9, and the battery is used for supplying power to the light compensating lamp 14.
As an alternative embodiment, the driving unit comprises a first motor 15, the first motor 15 is fixedly arranged on the side wall of one of the connecting blocks 6 through a mounting plate, the output shaft end of the first motor 15 penetrates through the connecting block 6 and is fixedly connected with a threaded rod 16, and the reciprocating seat 8 is in threaded connection with the outer wall of the threaded rod 16;
specifically stated, the controller 4 controls the first motor 15 to start, the first motor 15 rotates to drive the first threaded rod 16 to rotate, the first threaded rod 16 rotates to drive the reciprocating seat 8 to move, the reciprocating seat 8 is located inside the fixed shell 7, and the reciprocating seat 8 is limited to move only along the inside of the fixed shell 7, the reciprocating seat 8 is prevented from following the rotation of the fixed shell 7, the reciprocating seat 8 drives the fixed seat 9 to move through the elastic telescopic rod 10, and the fixed seat 9 moves to drive the light supplementing lamp 14 to move, so that the light supplementing lamp 14 is adjusted to a proper position, and the light supplementing is conducted on the concave surface of the part.
As a further embodiment, further comprising:
the deflection mechanism is provided with two groups, the two groups are symmetrically arranged in the fixed shell 7, and the light supplementing piece is used for adjusting the irradiation angle of the light supplementing piece when the inside of the fixed shell 7 moves to a designated position so as to increase the irradiation range of the light supplementing piece;
specifically, in the above embodiment, it is mentioned that the light-compensating lamp 14 is adjusted to a proper position so that the light-compensating lamp 14 compensates the concave surface of the component, but if the light-compensating lamp 14 compensates the concave surface of the component only by adjusting the position of the light-compensating lamp 14 laterally, the light of the light-compensating lamp 14 supplements light to the front, the side wall of the concave surface of the component is liable to be insufficient in light compensation, and the scanning effect of the three-dimensional scanner 1 is not good;
therefore, when the light supplementing lamp 14 moves along the reciprocating seat 8 for a specified distance, the light supplementing lamp 14 deflects a certain angle towards the side wall direction of the inner concave surface of the part under the action of the deflection mechanism, so that the light of the light supplementing lamp 14 irradiates the light supplementing towards the side wall direction of the inner concave surface of the part, the occurrence of the condition that the light supplementing of the side wall of the inner concave surface of the part is insufficient is avoided, and the identification effect of the three-dimensional scanner 1 on the inner concave surface of the part is enhanced.
As an alternative embodiment, the deflection mechanism comprises a gear 17, a rack 18 and a chute 19, wherein the gear 17 is fixedly arranged on the outer wall of the telescopic end of the elastic telescopic rod 10, the rack 18 is slidably connected inside the fixed shell 7, the chute 19 is arranged on the side wall of the reciprocating seat 8, a push block 35 is slidably connected inside the chute 19, and a spring 20 is fixedly connected between the push block 35 and the chute 19;
specifically, the reciprocating seat 8 moves to drive the gear 17 and the push block 35 to move synchronously, in the moving process, the push block 35 contacts with the rack 18 to push the rack 18 to move, after the rack 18 contacts with the inner side wall of the fixed shell 7, the rack 18 is blocked to stop moving, the push block 35 continues to move, because the rack 18 is blocked and limited, thereby generating relative displacement between the rack 18 and the push block 35, the push block 35 starts to compress the spring 20 to give way, so that the reciprocating seat 8 drives the gear 17 to move continuously, after the gear 17 moves for a certain distance, the gear 17 contacts with the rack 18, thereby driving the gear 17 to rotate under the action of the rack 18, the gear 17 rotates to drive the elastic telescopic rod 10 to rotate, the elastic telescopic rod 10 rotates to drive the fixed seat 9 to rotate, and the first torsion spring 12 twists the power, the fixed seat 9 rotates to drive the light supplementing lamp 14 to deflect a certain angle, thereby switching the light irradiation direction of the light supplementing lamp 14 to the direction towards the inner concave side wall of the part, thereby facilitating light supplementing on the inner concave side wall of the part, avoiding the situation that the inner concave side wall of the part is insufficient, and in the process of the automatic supplementing light is released between the torsion spring 12 and the first torsion spring 12 because the torsion spring 12 is released after the torsion spring 12 is driven by the first torsion spring 12.
As a further embodiment, further comprising:
the jacking units are provided with two groups and are symmetrically arranged in the fixed shell 7, and are used for jacking the light supplementing piece to approach to the direction of the inner concave surface of the part in the process of adjusting the irradiation angle of the light supplementing piece;
specifically, in the process of moving the light supplementing lamp 14, the jack-up unit can jack the light supplementing lamp 14 to move towards the center position of the inner concave surface of the part, and the position of the light supplementing lamp 14 is adjusted, so that the light supplementing range of the light supplementing lamp 14 is enlarged, the light supplementing lamp 14 is facilitated to supplement light on the side wall of the inner concave surface of the part, and the occurrence of light supplementing dead angles is reduced.
As an alternative embodiment, the jacking unit comprises a slot 21 and a jacking block 22, the slot 21 is arranged on the reciprocating seat 8, and the jacking block 22 is fixed on the inner wall of the fixed shell 7;
specifically, after the reciprocating seat 8 moves a certain distance, the top block 22 enters the slot 21, after the top block 22 contacts with the fixed seat 9, the fixed seat 9 moves away from the fixed housing 7 under the guidance of the inclined plane of the top block 22, so as to drive the light compensating lamp 14 to move towards the center of the concave surface of the part, which is beneficial to extending the light compensating lamp 14 towards the concave surface of the part and enlarging the light compensating range of the light compensating lamp 14.
As a further embodiment, further comprising:
the condensing units are provided with two groups and are all arranged at the bottom of the three-dimensional scanner 1;
the detection unit is used for acquiring pressure information;
the control unit is also used for controlling the light condensing unit to supplement light to the inner concave surface of the part according to the pressure information acquired by the detection unit, so that the light source emitted by the light supplementing piece is reflected to different parts of the inner concave surface of the part;
specifically, in the above embodiment, it is mentioned that the light supplementing angle of the light supplementing member and the light supplementing position of the concave surface in the part are respectively adjusted by the deflection mechanism and the jacking unit, so as to supplement light to the side wall of the concave surface in the part, and reduce the occurrence of light supplementing dead angles, but in the light supplementing process, if the depth of the concave surface in the part is deeper, the bottom of the concave surface in the part may be insufficient in light supplementing;
therefore, through the symmetrically arranged light condensing units, the light condensing units can collect the light source to the bottom of the inner concave surface of the part for light supplement by adjusting the inclination angle of the light condensing units, so that the situation of insufficient light supplement caused by deeper depth of the inner concave surface of the part is avoided;
after the pressure information is acquired by the detection unit, the two light gathering units return to an initial state, then the light gathering unit far away from the light supplementing lamp 14 starts to start working, and the light gathering unit moves in the direction away from the fixed shell 7 so as to adapt to the pushed distance of the light supplementing lamp 14, so that the light gathering mechanism can reflect the light source irradiated by the light supplementing lamp 14 to the side wall of the other side of the concave surface in the part, and the concave surface in the part is favorably subjected to omnibearing light supplementing.
As an alternative embodiment, the detection unit is specifically a pressure sensor 23, and the pressure sensor 23 is fixedly mounted on the side wall of the rack 18;
specifically, the pressure sensor 23 is driven to move when the rack 18 moves, the pressure sensor 23 senses pressure information after the inner wall of the fixed housing 7 contacts, and then the pressure information is fed back to the controller 4.
As a further embodiment, the condensing unit includes:
the light gathering piece is used for gathering the light source irradiated by the light supplementing piece into the inner concave surface of the part;
the pushing piece 24 is fixedly arranged at the bottom of the connecting block 6 and used for pushing the light gathering piece to move;
the deflection driving piece is arranged on the side wall of the connecting block 6 and is used for pushing the two light gathering pieces to be in a splayed shape;
specifically, the deflection driving piece pushes the light gathering pieces to deflect, so that the two light gathering pieces are in a splayed shape, light source reflection into the inner bottom surface of the inner concave surface is facilitated, and scanning parts of the three-dimensional scanner 1 are facilitated;
after the pressure information is acquired by the detection unit, the two deflection driving parts return to an initial state, so that the light gathering parts return to the initial state automatically, then the controller 4 controls the pushing part 24 which is far away from the light supplementing lamp 14 to start to work, the pushing part 24 pushes the light gathering parts to move, so that the light gathering parts are pushed out, the two groups of light gathering parts are in a splayed shape under the action of the deflection driving parts, and the light supplementing lamp 14 is facilitated to gather and reflect light sources scattered to the periphery in the light supplementing process to the bottom of the concave surface in the part, so that the situation that the light supplementing at the bottom of the concave surface in the part is insufficient is avoided when the three-dimensional scanner 1 scans the part.
Alternatively, the pushing member 24 may be an air cylinder or an electric push rod, and the pushing member 24 is fixedly mounted at the bottom of the connecting block 6.
As an alternative embodiment, the light-gathering member includes a light-gathering seat 25 and a universal ball 26, the universal ball 26 is rotationally connected with the light-gathering seat 25, and the universal ball 26 can rotate in any direction, the universal ball 26 is fixedly connected with the telescopic end of the pushing member 24, a second torsion spring 27 is fixedly installed between the light-gathering seat 25 and the pushing member 24, and a light-gathering lens 28 is fixedly installed on the light-gathering seat 25.
As an alternative embodiment, the deflection driving piece comprises a second motor 29, the second motor 29 is fixedly arranged on the side wall of the connecting block 6, and the output shaft end of the second motor 29 is fixedly connected with a rotating block 30;
specifically, the controller 4 controls the second motor 29 to start, and the second motor 29 drives the rotating block 30 to rotate, so that the corresponding light collecting seat 25 is pushed to rotate by the rotating block 30, so that the two light collecting mirrors 28 are in a splayed shape, which is beneficial to collecting and reflecting the light sources scattered around to the bottom of the concave surface of the part when the light supplementing lamp 14 starts to supplement light, and is beneficial to avoiding the occurrence of insufficient light supplementing caused by the over-deep depth of the concave surface of the part.
As a further embodiment, further comprising:
a sliding unit arranged between the light condensing members and the three-dimensional scanner 1 for pushing the two light condensing members to deflect outwards after the pushing member 24 pushes the light condensing members to move to a designated position;
specifically, after the pushing member 24 pushes the light focusing seat 25 to move for a certain distance, the light focusing lens 28 deflects outwards under the action of the sliding unit, so that the light supplementing range of the light source is further enlarged by adjusting the deflection angle of the light focusing lens 28, and the occurrence of the condition of light supplementing dead angles is reduced.
As an alternative embodiment, the sliding unit includes a moving groove and a slide bar 31, and the top end of the slide bar 31 is slidably coupled to the inside of the moving groove.
It should be noted that the moving groove includes a vertical groove 32, an inclined groove 33 and a relief groove 34;
specifically, the deflection driving member pushes the two light condensation seats 25 to be in a shape of a regular splayed, in the process of deflecting the two light condensation seats 25, the light condensation seats 25 can drive the second torsion springs 27 to twist and store force, and the slide bars 31 can slide in the abdication grooves 34 firstly, so that the situation that the light condensation seats 25 cannot deflect due to movement interference when the deflection driving member pushes the light condensation seats 25 to deflect is avoided through the arrangement of the abdication grooves 34;
when the two deflection driving seats return to the initial state, the second torsion spring 27 can release spring force to drive the two light gathering seats 25 to return, then the pushing piece 24 pushes the light gathering seats 25 to move, the sliding rod 31 can slide in the vertical groove 32, at the moment, the light gathering seats 25 move away from the fixed shell 7, after the sliding rod 31 enters the inside of the inclined groove 33, the light gathering seats 25 are pushed to deflect outwards under the guidance of the inclined groove 33, so that the deflection angle of the light gathering lens 28 is adjusted, the light source can be favorably enlarged to supplement light on the side wall of the inner concave surface of the part, and the condition that light supplement is not available can be favorably reduced.
A control method of a three-dimensional scanning manipulator as shown in fig. 1, the control method comprising the steps of:
and the control unit controls the light supplementing unit to supplement light to the inner concave surface of the part according to the scanning disqualification information analyzed by the analysis unit.
As a further embodiment, further comprising:
the control unit also controls the deflection driving piece to start working according to the pressure information acquired by the detection unit so as to push the two light supplementing units to be in a shape like a Chinese character 'zhu'.
As a further embodiment, further comprising:
the control unit also controls the pushing member 24 to start according to the return information of the deflection driving member, so that the light supplementing unit reflects the light source to different parts of the concave surface of the part.
The working principle of the invention is as follows:
the operator firstly places the part to be scanned on the supporting seat 3, then starts the three-dimensional scanner 1, drives the three-dimensional scanner 1 to move towards the part to be detected through the manipulator 2, scans the part to be detected through the three-dimensional scanner 1, feeds back the scanned pattern to the analysis unit for analysis, and when the analysis unit recognizes that the partial color of the part deepens, the default scanning result does not accord with the specification at the moment, the control unit can control the light supplementing unit to move, so that the light supplementing unit supplements light to the inner concave surface of the part, the inner concave surface of the part is illuminated by the light source, the detection of the inner concave surface of the part by the three-dimensional scanner 1 is facilitated, and the scanning effect of the three-dimensional scanner 1 is enhanced.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims.
Claims (10)
1. A manipulator for three-dimensional scanning, comprising:
a three-dimensional scanner (1) for scanning and measuring the part;
the manipulator (2) is used for providing support for the three-dimensional scanner (1) and driving the three-dimensional scanner (1) to move in different directions;
a support seat (3) for providing support for the part to be scanned;
the light supplementing unit is arranged at the bottom of the three-dimensional scanner (1) and used for illuminating the inner concave surface of the part;
the analysis unit is used for analyzing the scanning result of the three-dimensional scanner (1) and determining whether the concave scanning result of the part meets the specification;
and the control unit is used for controlling the light supplementing unit to move when the analysis unit analyzes that the color of the concave surface of the part deepens, so that the light supplementing unit supplements light for the concave surface of the part and assists the three-dimensional scanner (1) to detect the concave surface of the part.
2. The manipulator for three-dimensional scanning according to claim 1, wherein the light supplementing unit comprises:
the two connecting blocks (6) are symmetrically and fixedly arranged at the bottom of the three-dimensional scanner (1);
a fixed shell (7) fixedly arranged between the two connecting blocks (6);
the light supplementing piece is used for supplementing light to the inner concave surface of the part so as to enhance the identification effect of the three-dimensional scanner (1) on the inner concave surface;
the reciprocating seat (8) is arranged in the fixed shell (7) and is used for driving the light supplementing piece to move;
and the driving unit is used for driving the reciprocating seat (8) to move in the fixed shell (7).
3. The manipulator for three-dimensional scanning according to claim 2, further comprising:
the deflection mechanism is provided with two groups, and is symmetrically arranged in the fixed shell (7), and the light supplementing piece is used for adjusting the irradiation angle of the light supplementing piece when the inside of the fixed shell (7) moves to a designated position so as to enlarge the irradiation range of the light supplementing piece.
4. A manipulator for three-dimensional scanning according to claim 3, further comprising:
and the jacking units are provided with two groups and are symmetrically arranged in the fixing shell (7), and are used for jacking the light supplementing piece to approach the direction of the inner concave surface of the part in the process of adjusting the irradiation angle of the light supplementing piece.
5. The manipulator for three-dimensional scanning according to claim 2, further comprising:
the condensing units are provided with two groups and are all arranged at the bottom of the three-dimensional scanner (1);
the detection unit is used for acquiring pressure information;
the control unit is also used for controlling the light condensing unit to supplement light to the inner concave surface of the part according to the pressure information acquired by the detection unit, so that the light source emitted by the light supplementing piece is reflected to different parts of the inner concave surface of the part.
6. The manipulator for three-dimensional scanning according to claim 5, wherein the condensing unit comprises:
the light gathering piece is used for gathering the light source irradiated by the light supplementing piece into the inner concave surface of the part;
the pushing piece (24) is fixedly arranged at the bottom of the connecting block (6) and used for pushing the light gathering piece to move;
the deflection driving piece is arranged on the side wall of the connecting block (6) and used for pushing the two light gathering pieces to be in a regular splayed shape.
7. The manipulator for three-dimensional scanning of claim 6, further comprising:
and the sliding unit is arranged between the light gathering pieces and the three-dimensional scanner (1) and is used for pushing the two light gathering pieces to deflect outwards after the pushing pieces (24) push the light gathering pieces to move to the designated positions.
8. A control method of a three-dimensional scanning manipulator, which is applied to the three-dimensional scanning manipulator according to any one of claims 6 to 7, characterized by comprising the steps of:
and the control unit controls the light supplementing unit to supplement light to the inner concave surface of the part according to the scanning disqualification information analyzed by the analysis unit.
9. The method for controlling a three-dimensional scanning manipulator according to claim 8, further comprising:
the control unit also controls the deflection driving piece to start working according to the pressure information acquired by the detection unit so as to push the two light supplementing units to be in a shape like a Chinese character 'zhi'.
10. The method for controlling a three-dimensional scanning manipulator according to claim 9, further comprising:
the control unit also controls the pushing member (24) to start according to the return information of the deflection driving member, so that the light supplementing unit reflects the light source to different parts of the concave surface in the part.
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| CN202311450162.0A CN117433448B (en) | 2023-11-02 | 2023-11-02 | Manipulator for three-dimensional scanning and control method thereof |
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| CN117433448B (en) | 2024-04-02 |
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